OpenRaiser/Intern-Atlas huggingface dataset:
T2T-VICL: Unlocking the Boundaries of Cross-Task Visual In-Context Learning via Implicit Text-Driven VLMs
Venue: arXiv cs.CV 2026
Year: 2026

In large language models (LLM), in-context learning (ICL) refers to performing new tasks by conditioning on small demonstrations provided in the input context. Recent advances in visual in-context learning (VICL) demonstrate promising capabilities for solving downstream tasks by unified vision-language models (VLMs). When the visual prompt and the target images originate from different visual tasks, can VLMs still enable VICL? In the paper, we propose a fully collaborative pipeline, i.e. T2T-VICL, for VLMs to investigate the potential of cross-task VICL. Fundamentally, we design a mechanism to generate and select text prompts that best implicitly describe the differences between two distinct low-level vision tasks, and construct the first cross-task VICL dataset. Building upon this, we propose a novel inference framework that combines perceptual score-based reasoning with traditional evaluation metrics to perform cross-task VICL. Our approach achieves top-tier results across twelve cross-task scenarios and second-tier performance in nine additional scenarios, unlocking the boundaries of cross-task VICL within VLMs.
How Robot Dogs See the Unseeable: Improving Visual Interpretability via Peering for Exploratory Robots
Venue: arXiv cs.RO 2026
Year: 2026

In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as foliage, can severely obstruct a robot's sensors, impairing scene understanding. We show that "peering", a characteristic side-to-side movement used by insects to overcome their visual limitations, can also allow robots to markedly improve visual reasoning under partial occlusion. This is accomplished by applying core signal processing principles, specifically optical synthetic aperture sensing, together with the vision reasoning capabilities of modern large multimodal models. Peering enables real-time, high-resolution, and wavelength-independent perception, which is crucial for vision-based scene understanding across a wide range of applications. The approach is low-cost and immediately deployable on any camera-equipped robot. We investigated different peering motions and occlusion masking strategies, demonstrating that, unlike peering, state-of-the-art multi-view 3D vision techniques fail in these conditions due to their high susceptibility to occlusion. Our experiments were carried out on an industrial-grade quadrupedal robot. However, the ability to peer is not limited to such platforms, but potentially also applicable to bipedal, hexapod, wheeled, or crawling platforms. Robots that can effectively see through partial occlusion will gain superior perception abilities - including enhanced scene understanding, situational awareness, camouflage breaking, and advanced navigation in complex environments.
Stabilizing Policy Gradient Methods via Reward Profiling
Venue: arXiv cs.LG 2026
Year: 2026

Policy gradient methods, which have been extensively studied in the last decade, offer an effective and efficient framework for reinforcement learning problems. However, their performances can often be unsatisfactory, suffering from unreliable reward improvements and slow convergence, due to high variance in gradient estimations. In this paper, we propose a universal reward profiling framework that can be seamlessly integrated with any policy gradient algorithm, where we selectively update the policy based on high-confidence performance estimations. We theoretically justify that our technique will not slow down the convergence of the baseline policy gradient methods, but with high probability, will result in stable and monotonic improvements of their performance. Empirically, on eight continuous-control benchmarks (Box2D and MuJoCo/PyBullet), our profiling yields up to 1.5x faster convergence to near-optimal returns, up to 1.75x reduction in return variance on some setups. Our profiling approach offers a general, theoretically grounded path to more reliable and efficient policy learning in complex environments.
Revisiting Multimodal KV Cache Compression: A Frequency-Domain-Guided Outlier-KV-Aware Approach
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal large language models suffer from substantial inference overhead since multimodal KV Cache grows proportionally with the visual input length. Existing multimodal KV Cache compression methods mostly rely on attention score to reduce cache size, which makes them are incompatible with established efficient attention kernels (e.g., FlashAttention) and ignores the contribution of value vectors to the attention output. In this work, we revisit multimodal KV Cache compression from the perspective of the KV matrices' distribution. First, we observe that frequency-domain energy of multimodal KV matrices is predominantly concentrated in low-frequency and extract this principal energy via a low-pass filter. Further, we find that removing KV pairs that deviate substantially from this principal energy leads to a pronounced performance drop, which we define as Outlier KVs. Considering Outlier KVs are more likely to encode features critical for inference, we propose FlashCache, a frequency-domain-guided, Outlier-KV-aware KV Cache compression framework. First, we introduce an Outlier KV Recognition Module that models the principal component of multimodal KV matrices in the frequency domain and preferentially retains KV pairs that significantly deviate from it. Furthermore, Dynamic Budget Allocation Module is designed to adaptively determine the per-layer KV Cache size to retain more Outlier KVs. Experiments on multiple MLLMs and benchmarks demonstrate that FlashCache outperforms state-of-the-art multimoal KV compression methods, achieving up to 1.69 times faster decoding with 80% lower KV memory usage while maintaining task performance.
Better audio representations are more brain-like: linking model-brain alignment with performance in downstream auditory tasks
Venue: arXiv cs.LG 2026
Year: 2026

Artificial neural networks are increasingly powerful models of brain computation, yet it remains unclear whether improving their performance in downstream tasks also makes their internal representations more similar to brain signals. To address this question in the auditory domain, we quantified the alignment between the internal representations of 36 different audio models and brain activity from two independent fMRI datasets. Using voxel-wise and component-wise regression, and representation similarity analysis, we found that recent self-supervised audio models with strong performance in diverse downstream tasks are better predictors of auditory cortex activity than previously studied models. To assess the quality of the audio representations, we evaluated these models in 6 auditory tasks from the HEAREval benchmark, spanning music, speech, and environmental sounds. This revealed strong positive Pearson correlations (r > 0.8) between a model's overall task performance and its alignment with brain representations. Finally, we analyzed the evolution of the similarity between audio and brain representations during the pretraining of EnCodecMAE, a recent audio representation model. We discovered that brain similarity increases progressively and emerges early during pretraining, despite the model not being explicitly optimized for this objective. This suggests that brain-like representations can be an emergent byproduct of learning to reconstruct missing information from naturalistic audio data.
Align & Invert: Solving Inverse Problems with Diffusion and Flow-based Models via Representation Alignment
Venue: arXiv cs.CV 2026
Year: 2026

Enforcing alignment between the internal representations of diffusion or flow-based generative models and those of pretrained self-supervised encoders has recently been shown to provide a powerful inductive bias, improving both convergence and sample quality. In this work, we extend this idea to inverse problems, where pretrained generative models are employed as priors. We propose applying representation alignment (REPA) between diffusion or flow-based models and a DINOv2 visual encoder, to guide the reconstruction process at inference time. Although ground-truth signals are unavailable in inverse problems, we empirically show that aligning model representations of approximate target features can substantially enhance reconstruction quality and perceptual realism. We provide theoretical results showing (a) that REPA regularization can be viewed as a variational approach for minimizing a divergence measure in the DINOv2 embedding space, and (b) how under certain regularity assumptions REPA updates steer the latent diffusion states toward those of the clean image. These results offer insights into the role of REPA in improving perceptual fidelity. Finally, we demonstrate the generality of our approach by We integrate REPA into multiple state-of-the-art inverse problem solvers, and provide extensive experiments on super-resolution, box inpainting, Gaussian deblurring, and motion deblurring confirming that our method consistently improves reconstruction quality, while also providing efficiency gains reducing the number of required discretization steps.
Predicting the Emergence of Induction Heads in Language Model Pretraining
Venue: arXiv cs.CL 2026
Year: 2026

Specialized attention heads dubbed induction heads (IHs) have been argued to underlie the remarkable in-context learning capabilities of modern language models; yet, a precise characterization of their emergence, especially in the context of language modeling, remains wanting. In this study, we investigate the relationship between statistical properties of the training data and IH formation in both natural and synthetic training data settings. We show that: (1) A simple equation combining batch size and context size predicts the point at which IHs form and that this emergence point is agnostic to model size; (2) Surface bigram repetition frequency and reliability strongly affect the formation of IHs, and we find an effective Pareto frontier in terms of these two values; (3) local dependency with high bigram repetition frequency and reliability is sufficient for IH formation, but when the frequency and reliability are low, categoriality and the shape of the marginal distribution matter.
LinkML: An Open Data Modeling Framework
Venue: arXiv cs.DB 2026
Year: 2026

Scientific research relies on well-structured, standardized data; however, much of it is stored in formats such as free-text lab notebooks, non-standardized spreadsheets, or data repositories. This lack of structure challenges interoperability, making data integration, validation, and reuse difficult. LinkML (Linked Data Modeling Language) is an open framework that simplifies the process of authoring, validating, and sharing data. LinkML can describe a range of data structures, from flat, list-based models to complex, interrelated, and normalized models that utilize polymorphism and compound inheritance. It offers an approachable syntax that is not tied to any one technical architecture and can be integrated seamlessly with many existing frameworks. The LinkML syntax provides a standard way to describe schemas, classes, and relationships, allowing modelers to build well-defined, stable, and optionally ontology-aligned data structures. Once defined, LinkML schemas may be imported into other LinkML schemas. These key features make LinkML an accessible platform for interdisciplinary collaboration and a reliable way to define and share data semantics. LinkML helps reduce heterogeneity, complexity, and the proliferation of single-use data models while simultaneously enabling compliance with FAIR data standards. LinkML has seen increasing adoption in various fields, including biology, chemistry, biomedicine, microbiome research, finance, electrical engineering, transportation, and commercial software development. In short, LinkML makes implicit models explicitly computable and allows data to be standardized at its origin. LinkML documentation and code are available at linkml.io.
Gradient descent for deep equilibrium single-index models
Venue: arXiv cs.LG 2026
Year: 2026

Deep equilibrium models (DEQs) have recently emerged as a powerful paradigm for training infinitely deep weight-tied neural networks that achieve state of the art performance across many modern machine learning tasks. Despite their practical success, theoretically understanding the gradient descent dynamics for training DEQs remains an area of active research. In this work, we rigorously study the gradient descent dynamics for DEQs in the simple setting of linear models and single-index models, filling several gaps in the literature. We prove a conservation law for linear DEQs which implies that the parameters remain trapped on spheres during training and use this property to show that gradient flow remains well-conditioned for all time. We then prove linear convergence of gradient descent to a global minimizer for linear DEQs and deep equilibrium single-index models under appropriate initialization and with a sufficiently small step size. Finally, we validate our theoretical findings through experiments.
MUCH: A Multilingual Claim Hallucination Benchmark
Venue: arXiv cs.CL 2026
Year: 2026

Claim-level Uncertainty Quantification (UQ) is a promising approach to mitigate the lack of reliability in Large Language Models (LLMs). We introduce MUCH, the first claim-level UQ benchmark designed for fair and reproducible evaluation of future methods under realistic conditions. It includes 4,873 samples across four European languages (English, French, Spanish, and German) and four instruction-tuned open-weight LLMs. Unlike prior claim-level benchmarks, we release 24 generation logits per token, facilitating the development of future white-box methods without re-generating data. Moreover, in contrast to previous benchmarks that rely on manual or LLM-based segmentation, we propose a new deterministic algorithm capable of segmenting claims using as little as 0.2% of the LLM generation time. This makes our segmentation approach suitable for real-time monitoring of LLM outputs, ensuring that MUCH evaluates UQ methods under realistic deployment constraints. Finally, our evaluations show that current methods still have substantial room for improvement in both performance and efficiency.
Geometric-disentangelment Unlearning
Venue: arXiv cs.LG 2026
Year: 2026

Large language models (LLMs) can internalize private or harmful content, motivating unlearning that removes a forget set while preserving retaining knowledge. However, forgetting updates often cause collateral degradation on retaining knowledge, creating a persistent trade-off. Existing LLM unlearning methods are often heuristic, and other theoretical approaches rely on offline feature constructions that do not capture update-time forget-retain interaction in LLMs. To address this limitation, we aim to develop an LLM unlearning method that reduces the forget-retain trade-off with theoretical guarantees. We take a first-principles view by formalizing "no side effects" as local retain invariance under small parameter updates, and prove an equivalence under optimizer-induced geometry: the retain loss is locally invariant if and only if the update direction is orthogonal to the subspace spanned by retain gradients. Based on the insight, we propose Geometric-disentanglement Unlearning (GU), a lightweight and theoretically grounded projection that can be plug-and-play to existing gradient-based unlearning methods to mitigate forget-retain side effects. Experiments on TOFU, MUSE, and WMDP-cyber show that GU strengthens forgetting while reducing retain drift. When added to SimNPO, it achieves up to 62\% improved forgetting Extraction Strength (ES) and 31\% higher retain ES. We open-sourced our code in https://github.com/Lemutisme/Geometric-Unlearning.
Efficient Robot Design with Multi-Objective Black-Box Optimization and Large Language Models
Venue: arXiv cs.RO 2026
Year: 2026

Various methods for robot design optimization have been developed so far. These methods are diverse, ranging from numerical optimization to black-box optimization. While numerical optimization is fast, it is not suitable for cases involving complex structures or discrete values, leading to frequent use of black-box optimization instead. However, black-box optimization suffers from low sampling efficiency and takes considerable sampling iterations to obtain good solutions. In this study, we propose a method to enhance the efficiency of robot body design based on black-box optimization by utilizing large language models (LLMs). In parallel with the sampling process based on black-box optimization, sampling is performed using LLMs, which are provided with problem settings and extensive feedback. We demonstrate that this method enables more efficient exploration of design solutions and discuss its characteristics and limitations.
Bunny Hops and Blockchain Stops: Cross-Chain MEV Detection With N-Hops
Venue: arXiv cs.OH 2026
Year: 2026

This student paper introduces a novel methodology for the detection and analysis of multihop cross-chain arbitrage opportunities, wherein multihop denotes arbitrage sequences involving more than two transactional steps across distinct blockchain networks, executed using sequence-dependent strategies. Utilizing a comprehensive dataset comprising over 2.4 billion transactions recorded between September 2023 and August 2024 (encompassing 12 blockchain platforms and 45 cross-chain bridges) we design and implement an algorithm capable of identifying, sequence-dependent arbitrage paths spanning multiple ecosystems. Our empirical analysis demonstrates that such arbitrage opportunities are exceedingly infrequent, underscoring the inherent challenges associated with multihop execution in cross-chain environments.
Time-Series Foundation Models for ISP Traffic Forecasting
Venue: arXiv cs.NI 2026
Year: 2026

Accurate network-traffic forecasting enables proactive capacity planning and anomaly detection in Internet Service Provider (ISP) networks. Recent advances in time-series foundation models (TSFMs) have demonstrated strong zero-shot and few-shot generalization across diverse domains, yet their effectiveness for computer networking remains unexplored. This paper presents a systematic evaluation of a TSFM, IBM's Tiny Time Mixer (TTM), on the CESNET-TimeSeries24 dataset, a 40-week real-world ISP telemetry corpus. We assess TTM under zero-shot and few-shot settings across multiple forecasting horizons (hours to days), aggregation hierarchies (institutions, subnets, IPs), and temporal resolutions (10-minute and hourly). Results show that TTM achieves consistent accuracy (RMSE 0.026-0.057) and stable $R^2$ scores across horizons and context lengths, outperforming or matching fully trained deep learning baselines such as GRU and LSTM. Inference latency remains under 0.05s per 100 points on a single MacBook Pro using CPU-only computation, confirming deployability without dedicated GPU or MPS acceleration. These findings highlight the potential of pretrained TSFMs to enable scalable, efficient, and training-free forecasting for modern network monitoring and management systems.
M^3-Bench: Multi-Modal, Multi-Hop, Multi-Threaded Tool-Using MLLM Agent Benchmark
Venue: arXiv cs.AI 2026
Year: 2026

We present M^3-Bench, the first benchmark for evaluating multimodal tool use under the Model Context Protocol. The benchmark targets realistic, multi-hop and multi-threaded workflows that require visual grounding and textual reasoning, cross-tool dependencies, and persistence of intermediate resources across steps. We introduce a similarity-driven alignment that serializes each tool call, embeds signatures with a sentence encoder, and performs similarity-bucketed Hungarian matching to obtain auditable one-to-one correspondences. On top of this alignment, we report interpretable metrics that decouple semantic fidelity from workflow consistency. The benchmark spans 28 servers with 231 tools, and provides standardized trajectories curated through an Executor & Judge pipeline with human verification; an auxiliary four large language models (LLMs) judge ensemble reports end-task Task Completion and information grounding. Evaluations of representative state-of-the-art Multimodal LLMs (MLLMs) reveal persistent gaps in multimodal MCP tool use, particularly in argument fidelity and structure consistency, underscoring the need for methods that jointly reason over images, text, and tool graphs. Our Benchmark's anonymous repository is at https://github.com/EtaYang10th/Open-M3-Bench
REXO: Indoor Multi-View Radar Object Detection via 3D Bounding Box Diffusion
Venue: arXiv cs.CV 2026
Year: 2026

Multi-view indoor radar perception has drawn attention due to its cost-effectiveness and low privacy risks. Existing methods often rely on {implicit} cross-view radar feature association, such as proposal pairing in RFMask or query-to-feature cross-attention in RETR, which can lead to ambiguous feature matches and degraded detection in complex indoor scenes. To address these limitations, we propose \textbf{REXO} (multi-view Radar object dEtection with 3D bounding boX diffusiOn), which lifts the 2D bounding box (BBox) diffusion process of DiffusionDet into the 3D radar space. REXO utilizes these noisy 3D BBoxes to guide an {explicit} cross-view radar feature association, enhancing the cross-view radar-conditioned denoising process. By accounting for prior knowledge that the person is in contact with the ground, REXO reduces the number of diffusion parameters by determining them from this prior. Evaluated on two open indoor radar datasets, our approach surpasses state-of-the-art methods by a margin of +4.22 AP on the HIBER dataset and +11.02 AP on the MMVR dataset. The REXO implementation is available at https://github.com/merlresearch/radar-bbox-diffusion.
EchoVLA: Synergistic Declarative Memory for VLA-Driven Mobile Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Recent progress in Vision-Language-Action (VLA) models has enabled embodied agents to interpret multimodal instructions and perform complex tasks. However, existing VLAs are mostly confined to short-horizon, table-top manipulation, lacking the memory and reasoning capability required for mobile manipulation, where agents must coordinate navigation and manipulation under changing spatial contexts. In this work, we present EchoVLA, a memory-aware VLA model for mobile manipulation. EchoVLA incorporates a synergistic declarative memory inspired by the human brain, consisting of a scene memory that maintains a collection of spatial-semantic maps and an episodic memory that stores task-level experiences with multimodal contextual features. The two memories are individually stored, updated, and retrieved based on current observations, task history, and instructions, and their retrieved representations are fused via coarse- and fine-grained attention to guide base-arm diffusion policies. To support large-scale training, we further introduce MoMani, an automated benchmark that generates expert-level trajectories through multimodal large language model (MLLM)-guided planning and feedback-driven refinement, supplemented with real-robot demonstrations. Comprehensive simulated and real-world results demonstrate that EchoVLA substantially improves overall performance, e.g., it achieves the highest success rates of 0.52 on manipulation/navigation tasks and 0.31 on mobile manipulation tasks in simulation, exceeding the strong baseline $π_{0.5}$ by +0.20 and +0.11, respectively.